Autonomous mobile system, autonomous mobile method, and storage medium

Abstract

An autonomous mobile system according to the present embodiment includes: obstacle detection means for detecting an obstacle in an aisle; distance measurement means for measuring a distance from the obstacle; obstacle determination means for determining a kind of the obstacle; and storage means for storing a predetermined distance set according to the kind of the obstacle. The autonomous mobile system travels with the predetermined distance from the obstacle depending on the kind of the obstacle.

What is claimed is: 
     
         1 . An autonomous mobile system that autonomously moves in a facility, the autonomous mobile system comprising:
 obstacle detection means for detecting an obstacle in an aisle;   distance measurement means for measuring a distance from the obstacle;   obstacle determination means for determining a kind of the obstacle; and   storage means for storing a predetermined distance set according to the kind of the obstacle, wherein the autonomous mobile system travels with the predetermined distance from the obstacle depending on the kind of the obstacle.   
     
     
         2 . An autonomous mobile system including an autonomous mobile device that autonomously moves in a facility, wherein when there is an obstacle in an aisle where the autonomous mobile device travels, the autonomous mobile device travels with a predetermined distance set according to a kind of the obstacle, from the obstacle. 
     
     
         3 . The autonomous mobile system according to  claim 2 , further comprising a server device that transmits and receives traveling information to and from the autonomous mobile device, wherein the server device includes, of the autonomous mobile system, at least one of:
 obstacle detection means for detecting the obstacle in the aisle;   distance measurement means for measuring a distance from the obstacle;   obstacle determination means for determining the kind of the obstacle; and   storage means for storing the predetermined distance set according to the kind of the obstacle.   
     
     
         4 . The autonomous mobile system according to  claim 1 , wherein:
 the obstacle is an installed object installed in the aisle to be used by a person; and   the predetermined distance is a distance for the person to use the installed object.   
     
     
         5 . The autonomous mobile system according to  claim 4 , wherein the installed object includes at least one of a handrail, a bench, and a bulletin board. 
     
     
         6 . The autonomous mobile system according to  claim 4 , wherein when detecting the person who uses the installed object, the autonomous mobile system changes a speed of autonomous movement. 
     
     
         7 . The autonomous mobile system according to  claim 4 , wherein when a predetermined moving body approaches and the autonomous mobile system does not detect the person who uses the installed object, the autonomous mobile system travels with a smaller distance from the installed object than the predetermined distance. 
     
     
         8 . An autonomous mobile method for an autonomous mobile device that autonomously moves in a facility provided with an aisle, the autonomous mobile method comprising:
 a step of determining a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels;   a step of preparing a predetermined distance set according to the kind of the obstacle; and   a step of traveling with the predetermined distance from the obstacle.   
     
     
         9 . A non-transitory storage medium that stores an autonomous mobile program for an autonomous mobile device that autonomously moves in a facility provided with an aisle, the autonomous mobile program causing a computer to execute:
 determination of a kind of an obstacle when the autonomous mobile device detects the obstacle in the aisle where the autonomous mobile device travels;   preparation of a predetermined distance set according to the kind of the obstacle; and   traveling with the predetermined distance from the obstacle.